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Balance Sheet Components
 12 Months Ended
Dec. 31, 2023
Organization, Consolidation and Presentation of Financial Statements [Abstract]  
Balance Sheet Components Balance Sheet Components
Inventory
As of December 31, 2023, inventory consisted of finished goods of $18.8 million and work-in-progress and components of $1.4 million. As of December 31, 2022, inventory consisted of finished goods of $15.6 million and work-in-progress and components of $1.7 million.
Property and Equipment, net:
December 31, 2023December 31, 2022
(in thousands)
Instrument trays$18,205 $13,092 
Machinery and equipment3,067 1,828 
Construction in progress
3,856 7,854 
Computer and office equipment
1,856 976 
Leasehold improvements
3,873 1,631 
Furniture and fixtures
389 390 
31,246 25,771 
Less: Accumulated depreciation and amortization
(15,246)(10,207)
$16,000 $15,564 
As of December 31, 2023, construction in progress pertains to cost of individual components of a custom instrument set used for surgical placement of the Company's products that have not yet been placed into service of $3.5 million and software costs of $0.4 million. Depreciation expense was $5.4 million and $3.4 million for the years ended December 31, 2023 and 2022, respectively.
Accrued Liabilities and Other:
December 31, 2023December 31, 2022
 (in thousands)
Accrued compensation and related expenses
$13,464 $11,365 
Accrued royalty1,360 818 
Accrued professional services
929 355 
Others
1,699 973 
$17,452 $13,511